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Flatten pose

FlattenPose converts a 3D pose matrix to a planar 4 by 4 pose. It keeps X, Y, and yaw, sets Z to zero, and removes roll and pitch.

Inputs​

pose_3d is a 4 by 4 transformation matrix.

Outputs​

pose_2d is a copied 4 by 4 matrix. The input is not changed.

When to use​

Use this when later matrix-based operations expect a pose constrained to the ground plane.

Configuration​

This operation has no user parameters.

Limitations​

The operation does not validate matrix shape or finite values.